Design of a feedback-feedforward steering controller for accurate path tracking and stability at the limits of handling

Kapania, Nitin R.; Gerdes, J. Christian

doi:10.1080/00423114.2015.1055279

Cited by 180 publications

(110 citation statements)

References 11 publications

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“…A number of various self-driving vehicle concepts has already been showcased by research institutions and manufacturers, for example participants in the Grand Challenge and the Urban Challenge competitions conducted by DARPA (Buehler et al, 2007(Buehler et al, , 2009), Google's self-driving vehicles (Guizzo, 2011), Stanford's autonomous "at-the-limit" Audi TTS (Kapania and Gerdes, 2015), just to mention a few successful examples demonstrating what the future of transportation might offer. However, these systems are often heavily equipped vehicles under extensive engineering supervision ahead of, during, and/or after the driving mission, and might not be financially nor practically suitable for the consumer market in their current configurations.…”

Section: Toward Autonomous Drivingmentioning

confidence: 99%

Models and Critical Maneuvers for Road Vehicles

Lundahl

2016

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The cover: The cover illustration is based on an "accidental" photograph (he claims) taken at Mantorp Park by Viktor Svensson, here used with his permission. Typeset with L A T E X 2εPrinted by LiU-Tryck, Linköping, Sweden 2016 i AbstractAs manufacturers are pushing their research and development toward more simulation based and computer aided methods, vehicle dynamics modeling and simulation become more important than ever. The challenge lies in how to utilize the new technology to its fullest, delivering the best possible performance given certain objectives and current restrictions. Here, optimization methods in different forms can be a tremendous asset. However, the solution to an optimization problem will always rely on the problem formulation, where model validity plays a crucial role. The main emphasis in this thesis lies within methodology and analysis of optimal control oriented topics for safety-critical road-vehicle maneuvers. A crucial element here is the vehicle models. This is investigated as a first study, evaluating the degree to which different model configurations can represent the lateral vehicle dynamics in critical maneuvers, where it is shown that even the low-complexity models describe the most essential vehicle characteristics surprisingly well.How to formulate the optimization problems and utilize optimal control tools is not obvious. Therefore, a methodology for road-vehicle maneuvering in safety-critical driving scenarios is presented, and used in evaluation studies of various vehicle model configurations and different road-surface conditions. It was found that the overall dynamics is described similarly for both the highand low-complexity models, as well as for various road-surface conditions.If more information about the surroundings is available, the best control actions might differ from the ones in traditional safety systems. This is also studied, where the fundamental control strategies of classic electronic stability control is compared to the optimal strategy in a safety-critical scenario. It is concluded that the optimal braking strategy not only differs from the traditional strategies, but actually counteracts the fundamental intentions from which the traditional systems are based on.In contrast to passenger cars, heavy trucks experience other characteristics due to the different geometric proportions. Rollover is one example, which has to be considered in critical maneuvering. Model configurations predicting this phenomenon are investigated using optimal control methods. The results show that the simple first go-to models have to be constrained very conservatively to prevent rollover in more rapid maneuvers.In vehicle systems designed for path following, which has become a trending topic with the expanding area of automated driving, the requirements on vehicle modeling can be very high. These requirements ultimately depend on several various properties, where the path restrictions and path characteristics are very influential factors. The interplay between these path prop...

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Section: Toward Autonomous Drivingmentioning

confidence: 99%

Models and Critical Maneuvers for Road Vehicles

Lundahl

2016

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“…where a Gkx is the component of gravity accelerations in the x-axis direction for the front and rear vehicles, a Gky is the component of gravity accelerations in the y-axis direction for the front and rear vehicles, and G 0 kx and G 0 ky are the components of gravity forces of the front and rear vehicles in the x-and y-axis directions, as given in formula (13).…”

Section: Frictional Resisting Forces Of Track Actionmentioning

confidence: 99%

“…Salehpour et al 14 developed a new vehicle path tracking algorithm with integrated chassis control. The aforementioned works [3][4][5][6][7][8][9][10][11][12][13][14] mainly focus on studying the steering performance of a traditional single-tracked vehicle or the control algorithm of motion path. These methods are not employed in research on articulated tracked vehicles.…”

Section: Introductionmentioning

confidence: 99%

“…20 These two methods 19,20 only discuss the controlling strategies of movement trajectory; the mechanical characteristics of tracks or tires during steering process are not studied. Current models are designed for studying the steering abilities of traditional single-tracked vehicles, [3][4][5][6][7][8][9][10][11][12][13][14] or they only emphasize the planar steering performances of multi-tracked or articulated tracked vehicles [15][16][17][18] or analyze motion trajectory planning. 19,20 Such research gap should be addressed, given that the road conditions of articulated tracked vehicles are worse than that of single-tracked vehicles.…”

Section: Introductionmentioning

confidence: 99%

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Dynamic modeling study on the slope steering performance of articulated tracked vehicles

Dong

Cheng

et al. 2017

Advances in Mechanical Engineering

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Articulated tracked vehicles are used as special off-road transportation vehicles, and their mobility is gaining more attention now than before. As an important evaluation indicator of the mobility of articulated tracked vehicles, steering performance receives wide attention in particular. Most of the present studies focus on the planar steering performance; few studies employing current models concentrate on the slope steering performance of articulated tracked vehicles. To address this research gap, this study proposes a dynamic modeling method for analyzing the slope steering performance of articulated tracked vehicles. A kinematic model of a vehicle is initially constructed to analyze its kinematic characteristics during slope steering; these characteristics include velocity and acceleration. A dynamic model of a vehicle is then developed to analyze its mechanical characteristics during slope steering; these characteristics include vertical loads, driving forces, and driving moments of tracks. The created dynamic model is then applied to analyze the slope steering performance of a specific articulated tracked vehicle. A mechanical-control united simulation model and an actual test of an articulated tracked vehicle are suggested to verify the established steering model. Comparison results show the effectiveness of the proposed dynamic steering model.

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“…Indicative of the potential capabilities of future driver-assistance systems, Kapania and Gerdes (2015) and Ni and Hu (2017) demonstrate autonomous racing cars driving at-the-limit of handling. It is interesting to consider how the advancement of driver-assistance systems in cars will progress.…”

Section: Introductionmentioning

confidence: 99%

Optimal Braking Patterns and Forces in Autonomous Safety-Critical Maneuvers

Fors

2018

Linköping Studies in Science and Technology. Licentiate Thesis

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The trend of more advanced driver-assistance features and the development toward autonomous vehicles enable new possibilities in the area of active safety. With more information available in the vehicle about the surrounding traffic and the road ahead, there is the possibility of improved active-safety systems that make use of this information for stability control in safety-critical maneuvers. Such a system could adaptively make a trade-off between controlling the longitudinal, lateral, and rotational dynamics of the vehicle in such a way that the risk of collision is minimized. To support this development, the main aim of this licentiate thesis is to provide new insights into the optimal behavior for autonomous vehicles in safety-critical situations. The knowledge gained have the potential to be used in future vehicle control systems, which can perform maneuvers at-the-limit of vehicle capabilities.Stability control of a vehicle in autonomous safety-critical at-the-limit maneuvers is analyzed by the use of optimal control. Since analytical solutions of the studied optimal control problems are intractable, they are discretized and solved numerically. A formulation of an optimization criterion depending on a single interpolation parameter is introduced, which results in a continuous family of optimal coordinated steering and braking patterns. This formulation provides several new insights into the relation between different braking patterns for vehicles in at-the-limit maneuvers. The braking patterns bridge the gap between optimal lane-keeping control and optimal yaw control, and have the potential to be used for future active-safety systems that can adapt the level of braking to the situation at hand. A new illustration named attainable force volumes is introduced, which effectively shows how the trajectory of a vehicle maneuver relates to the attainable forces over the duration of the maneuver. It is shown that the optimal behavior develops on the boundary surface of the attainable force volume. Applied to lane-keeping control, this indicates a set of control principles similar to those analytically obtained for friction-limited particle models in earlier research, but is shown to result in vehicle behavior close to the globally optimal solution also for more complex models and scenarios.iii

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Design of a feedback-feedforward steering controller for accurate path tracking and stability at the limits of handling

Cited by 180 publications

References 11 publications

Models and Critical Maneuvers for Road Vehicles

Models and Critical Maneuvers for Road Vehicles

Dynamic modeling study on the slope steering performance of articulated tracked vehicles

Optimal Braking Patterns and Forces in Autonomous Safety-Critical Maneuvers

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